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Integrated Project Co-operative Systems for Road Safety “Smart Vehicles on Smart Roads” SP1 – SAFESPOT In-Vehicle Sensing and Platform Elena Bianco Centro Ricerche FIAT (Italy), [email protected] SP1 SAFEPROBE Co-leader. SAFESPOT. SAFESPOT – SP1. WP1.3 Specification

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Integrated Project

Co-operative Systems for Road Safety

“Smart Vehicles on Smart Roads”

SP1 – SAFESPOT

In-Vehicle Sensing and Platform

Elena Bianco

Centro Ricerche FIAT (Italy), [email protected]

SP1 SAFEPROBE Co-leader

SAFESPOT


Safespot sp1
SAFESPOT – SP1

  • WP1.3 Specification

  • Task 1.3.1 Internal Data Fusion Specification

  • Task 1.3.4 Data Refinement Specification



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SAFESPOT – SP1 – WP 1.3

  • WORK PLAN

M7 – M12

M12 – M18



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SAFESPOT – SP1 – WP 1.3

  • WP DELIVERABLES LIST


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SAFESPOT – SP1 – WP 1.3

  • TASK 1.3.1 Internal Data Fusion Specification

  • Leaded by CRF – Other Partners involved: VOLVO, BOSCH, PIAGGIO, IBEO, ICCS

  • Start month: 7 - End month: 12

  • Main Activities:

  • Development of data fusion algorithms at different levels depending on:

    • specific goal to reach;

    • type of vehicles (cars, trucks, motorcycles) and equipment considered.

  • 2. Implementation of data packages to be transmitted to the environment through V2V and V2I communication, using protocol defined within SP3

  • Synergy with IP Prevent – ProFusion II (http://www.prevent-ip.org)

  • Specification of the internal data fusion will be adapted from the recommendation of the sub-project ProFusion II.

  • Final resultD1.3.1 Data fusion specification (M15)


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SAFESPOT – SP1 – WP 1.3

  • IP Prevent – ProFusion II

  • Sub-project leader Su-Birm Park – DELPHI ([email protected])

  • 1st PReVENT Fusion Forum Workshop: 8 March 2006

  • VOLVO Brussels Office

  • The agenda is available at

  • http://www.prevent-ip.org/FusionForumWorshop


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SAFESPOT – SP1 – WP 1.3

  • TASK 1.3.4 Data Refinement Specification

  • Leaded by CRF – Other Partners involved: VOLVO, BOSCH, MMSE

  • Start month: 12 - End month: 18

  • Main Activities:

  • To link the SP1 data fusion specifications with the requirements defined in the SP3 connected to the propagation of the data packets and their broadcast inside geographical areas.

  • To specify a data framework towards the applications

  • To define in a formal/ semantic way the data structures to be exchanged through V2V and V2I

  • To develop a common interfaces and protocol in a suitable way to make easy the integration of the SAFEPROBE platform.

  • Synergywith SAFESPOT – SP3 SINTECH


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SAFESPOT – SP1 – WP 1.3

Legend:

I/F = Interface

SP1 - WP1.3 Specification


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SAFESPOT – SP1 – WP 1.3

PARTNERS CONTRIBUTIONS

TASK 1.3.1

CRF

Task Leader. Leads the specification activities for on-board data fusions algorithms for cars, trucks and motorcycles.

Responsibility of the D 1.3.1.

VOLVO

Providing information on truck specific data fusion issues.

BOSCH

Contributions to the specification of information (object, attribute) fusion architectures and algorithms (tracking, data association, time stamping/synchronization) at various levels (sensor to central/map level) and for defined vehicle sub-networks (e.g. surround sensor bus, vehicle dynamics CAN, navigation/multimedia bus, communication/WLAN).


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SAFESPOT – SP1 – WP 1.3

PARTNERS CONTRIBUTIONS

TASK 1.3.1

PIAGGIO

Merging of data coming from communication, both from other vehicles and from infrastructure.

IBEO

Contribution to the specification of data fusion, in particular fusion of cooperative on-board sensor data with external information received via V2V/V2I.

ICCS

Contribution to the specification of the data fusion algorithms.


Safespot sp1 wp 1 310
SAFESPOT – SP1 – WP 1.3

PARTNERS CONTRIBUTIONS

TASK 1.3.4

CRF

Definition and description of formal semantic structure of the data for the vehicles and cooperative environment.

VOLVO

Contribution to the specification of the interfaces for truck specific applications.

MMSE

Contribution to the definition of formal semantic data structures; development of common interface and protocol.


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SAFESPOT – SP1 – WP 1.3

Proposal of working phase


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SAFESPOT – SP1 – WP 1.3

SAFESPOT – SP1 demonstrator vehicles

  • (*) Renault plans to equip one of its vehicles as defined in SP1, even if not funded in SP1. The purpose is to facilitate the final integration phase in terms of layout, vehicle information, synergy constraints, etc.

  • The main SP1 test are done by VOLVO, CRF and PIAGGIO.


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SAFESPOT – SP1 – WP 1.3

SAFESPOT – draft of possible on-board sensors

All the vehicles are supposed to be equipped with the SAFEPROBE processing unit.


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SAFESPOT – SP1 – WP 1.3

  • CRF proposal

OUTPUT data defined at logical level (data structure)

1

HMI

Application

OUTPUT data defined at physical level (transmission protocol, interface)

2

SP4

2

Application layer to be agree between SP1 and SP4

Standard Interface

SP3

1

COM V2V/V2I

DATA FUSION

vehicle sensors

ADAS sensors

SP1


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SAFESPOT – SP1 – WP 1.3

  • DATA FUSION – MAIN FEATURES

  • Principal aim is to reconstruct the traffic scenario around the vehicle thanks to the data collected from homogeneous sensors.

  • Depending on the number of on-board sensors, the reconstruction will be more or less precise.

  • The data fusion algorithms have to be flexible and modular enough to be used in different kinds of vehicle using different equipment.

  • The data fusion algorithms have to based on the architecture defined by VSP inside PROFUSION 2 data-fusion architecture.

  • The following slide report the working proposal to be shared by all the involved partners.


Safespot sp1 wp 1 316

LRR/LID

On-board sensors

GPS

Camera

SRR

V2V

Maps

V2I

SAFESPOT – SP1 – WP 1.3

Signal Level

Track Level

Object Level

Feature Level

Environmental

Level

Fusion Level

El-hor

El-horizon Provider

Road Data

Road

Geometry

Fusion

Road Geometry

Vehicle Data

Ego-veh Positioning

Accurate Pos

Images

Lane Detection

Lane

Track

Level

Fusion

Ego-state

Estimation

Ego-veh Pos.

Environment Reconstruction

Position

LRR/LID Processing

tracks

Signals

Track

Level

Fusion

Obstacles

tracks

SRR Processing

Signals

Internal DF with on-board Information

External DF with Refinement

SP1 - WP1.3 Specification


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SAFESPOT – SP1 – WP 1.3

  • OPEN ISSUES:

  • Input from SP4:

    • Requirements based on scenarios and application definition

  • 2. Output to SP4:

    • Data fusion specification

  • Definition of a common architecture

  • Definition of the common protocol interface between SP1 and SP4

  • Definition of the interface for the data flow and data exchange in terms of

    • Data format

    • Availability

    • Accuracy

    • Resolution

    • Latency

    • Update rate

Timetable to be done


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